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Abstract

This paper overviews path planning methods, systematic versus probabilistic for robotic demining, and a robot development project. We outline a complete sensor-based coverage algorithm that uses an exact cellular decomposition method. To decrease coverage duration, we introduce a probabilistic method that takes advantage of a priori known mine patterns. Then, we give a comparison of random versus coordinated coverage. Finally, we present a summary of the development of the mobile test platform.

BibTeX Reference
@conference{Acar-2001-16817,author = {Ercan Acar and Yangang Zhang and Howie Choset and Mark Schervish and Albert Costa and Renata Melamud and David Lean and Amy Graveline},title = {Path Planning for Robotic Demining and Development of a Test Platform},booktitle = {Proceedings of the 2001 International Conference on Field and Service Robotics},year = {2001},month = {January},pages = {161 - 168},}